Service providing system, service providing method and management apparatus for service providing system

ABSTRACT

A service providing system including: a mobile robot configured to act in response to an instruction from a user through wireless communication and including a sensor having a capability corresponding to a human sensing capability to perceive an external world; a target identifying unit configured to identify whether an action target of the robot is a human being or another robot; an user apparatus control portion configured to output the signal detected by the sensor in a first manner when the action target is identified to be a human being and output the signal detected by the sensor in a second manner when the action target is identified to be the other robot; and a user apparatus configured to act in a manner perceivable by the user based on a output signal.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a National Stage of PCT international applicationSer. No. PCT/JP2018/034161 filed on Sep. 14, 2018 which designates theUnited States, incorporated herein by reference, and which is based uponand claims the benefit of priority from Japanese Patent Application No.2017-189796, filed on Sep. 29, 2017, the entire contents of which areincorporated herein by reference.

TECHNICAL FIELD

This invention relates to a service providing system, a serviceproviding method and a management apparatus for the service providingsystem for providing various services by using a mobile robot.

BACKGROUND ART

Systems of this type for moving remotely located robots in accordancewith instructions transmitted from a user terminal through a network areknown (see Patent Document 1, for example). In the system taught byPatent Document 1, the robot is equipped with a vision sensor and imagesignals acquired by the vision sensor are transmit through the networkto the user terminal.

CITATION LIST Patent Literature

Patent Literature 1: Japanese Unexamined Patent Publication No.2005-64837

DISCLOSURE OF INVENTION Problems to be Solved by the Invention

A point of interest here is that when a service utilizing such robotscomes into widespread use, the robots become ubiquitous and robots ofindividual service users may come to be surrounded by other robots. As aresult, users are apt to feel less that fully satisfied with the serviceprovided.

Means for Solving Problem

An aspect of the present invention is a service providing systemincluding: a mobile robot configured to act in response to aninstruction from a user through wireless communication and including adetection unit having a capability corresponding to a human sensingcapability to perceive an external world; a target identifying unitconfigured to identify whether an action target of the robot is a humanbeing or another robot; an output unit configured to output the signaldetected by the detection unit in a first manner when the action targetis identified to be a human being by the target identifying unit andoutput the signal detected by the detection unit in a second manner whenthe action target is identified to be another robot; and a userapparatus configured to act in a manner perceivable by the user based ona signal output by the output unit.

Another aspect of the present invention is a service providing methodfor provide a service to a user by using a mobile robot acting inresponse to an instruction from a user through wireless communicationand including a detection unit having a detection capabilitycorresponding to a human sensing capability to perceive an externalworld and a user apparatus acting in a manner perceivable by the user,the service providing method including: identifying whether an actiontarget of the robot is a human being or another robot; and outputting asignal detected by the detection unit in a first manner to the userapparatus when the action target is identified to be a human being bythe target identifying unit and output the signal detected by thedetection unit in a second manner when the action target is identifiedto be another robot.

Further aspect of the present invention is a management device for aservice providing system including: a communication connection unitcapable of transmitting and receiving a signal with a user apparatus anda robot; a target identifying unit configured to identify whether anaction target of the robot is a human being or another robot based onthe signal received from a robot through the communication connectionunit; and an output unit configured to output the signal received from arobot to the user apparatus in a first manner through the communicationconnection unit when the action target is identified to be a human beingby the target identifying unit and output the signal received from therobot to the user apparatus in a second manner through the communicationconnection unit when the action target is identified to be anotherrobot.

Effect of the Invention

The present invention ensures provision of a service fully satisfactoryto the user even when other robots are present in the vicinity of theuser's robot.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a diagram schematically showing overall configuration of aservice providing system according to an embodiment of the presentinvention;

FIG. 2 is a diagram showing a configuration of the user apparatus ofFIG. 1 ;

FIG. 3 is a diagram showing a configuration of the robot of FIG. 1 ;

FIG. 4 is a block diagram showing configuration overview of a managementserver of FIG. 1 ;

FIG. 5 is a flowchart showing an example of processing performed by acomputing unit of FIG. 4 ;

FIG. 6 is a diagram showing an example of action of a service providingsystem according to an embodiment of the present invention.

FIG. 7 is a diagram showing another example of the user apparatus ofFIG. 1 ;

FIG. 8 is a diagram showing an example of action with the user apparatusof FIG. 7 and

FIG. 9 is a diagram showing another example of action with the userapparatus of FIG. 7 .

DESCRIPTION OF EMBODIMENT

An embodiment of the present invention is explained below with referenceto FIGS. 1 to 9 . The service providing system according to thisembodiment of the present invention activates actions of a robot locatedat a place apart from the user in response to instructions from a user,and offers the user services in a perceptible mode based on signalsdetected by the robot.

Although the robot can act individually in response to instructions fromthe user, an example is explained in the following in which the robotacts not individually but also together with third persons such as theuser's family. The service providing system of the following example isadapted to deal with a situation in which a user arranges for a robot tojoin his or her family (or family member) in place of the user when theygo out by themselves (on a trip, for example) without the user whocannot join them for some reason and is particularly adapted to providethe user with information obtained by the robot in such a situation. Asa result, the user can, for example, enjoy a family outing just as iftraveling with family even while staying home.

FIG. 1 is a diagram schematically showing overall configuration of aservice providing system 100 according to an embodiment of the presentinvention. As shown in FIG. 1 , the service providing system 100 isconfigured to comprise a user apparatus 10A worn by a user A at point A,a user apparatus 10B worn by a user B at point B, a robot 20A located atpoint C and operated by the user A at point A, a robot 20B located atpoint C and operated by the user B, and a management server 30.

The user apparatus 10A, robots 20A and 20B, and management server 30 arecommunicably interconnected by a network 1 including internet lines orother wireless communication network connection. User apparatus 10A anduser apparatus 10B are identically configured, and both are sometimesindicated by reference symbol 10. Robots 20A and 20B are identicallyconfigured, and both are sometimes indicated by reference symbol 20.

A point, B point and C point are points separated from one another andmay, for example, be in different regions. The different regions can bedifferent countries. Also possible is for A point and B point to be thesame point and C point to be a point apart from A and B points (remotepoint or region). The robots 20A and 20B at point C is rented at a shop3 at or near point C. In other words, the robot 20A is rented from theshop 2 visited by the family of the user A and participates in the userA family's activities at point C. The robot 20B is rented from the shop2 visited by the family of the user B and participates in the user Bfamily's activities at point C. The family of users A and B returns therobots 20 A and B to the shop 2 after finishing their trip activities atpoint C. Each robot 20 available from the shop 2 has its ownpre-assigned ID.

FIG. 2 is a diagram showing a configuration of the user apparatus 10. Asshown in FIG. 2 , the user apparatus 10 is a wearable computer shapedoverall like a helmet, for example, and is worn on the user's head. Theuser apparatus 10 is provided with multiple sensors 11 for detectingbrain activity such as user brain waves or magnetoencephalographicwaves, and brain blood flow state. Namely, the user apparatus 10 isequipped with a so-called brain-machine interface (BMI) that detectsuser thoughts and intentions from brain activity signals and achievesmechanical operations without using body motions.

In addition, the user apparatus 10 has a display 12, microphone 13,speakers 14, input unit 15 controller 16 and wireless unit 17. Thedisplay 12 is, for example, a nontransparent head-mounted displaypositioned to surround both of the user's eyes and displays not onlycamera images from the robot 20 but also virtual reality 3D images. Themicrophone 13 is disposed at the user's mouth and receives voice signalsproduced by user utterances. The speakers are located near the user'sears and produce voice output. The input unit 15 is configured tocomprise switches and a touch panel or the like operated by the user.Various data including user personal data and the like are input throughthe input unit 15.

The controller 16 includes a microcomputer comprising a CPU, ROM, RAMand the like. The controller 16 controls the wireless unit 17 andcommunicates with the management server 30. For example, the controller16 sends the management server 30 signals received from the sensors 11and microphone 13. In addition, the controller 16 sends the display 12and speakers 14 control signals based on signals received from themanagement server 30.

FIG. 3 is a diagram showing structure of the robot 20. As shown in FIG.3 , the robot 20 is a humanoid robot having a head, trunk, two arms andtwo legs, and is capable of autonomous movement by biped walking. Therobot 20 is nearly as tall as a human adult, with a height of around 140to 160 cm, for example.

The robot 20 is equipped with multiple sensors possessing detectioncapabilities corresponding to the “five senses” traditionally recognizedas sensing capabilities enabling humans to perceive the external world,namely, with at least one each of a vision sensor 211, sound sensor 212,touch sensor 213, smell sensor 214, and taste sensor 215. The sensors211 to 215 output signals corresponding to the human five senses (fivesense signals) as detection signals.

The vision sensor 211 comprises a camera having an imaging unitcomprising a CMOS sensor, CCD sensor or other image sensor located at aneye position of the robot 20 and a lens, a drive unit for driving theimaging unit vertically and laterally, and a zoom mechanism forenlarging and shrinking subject images. The vision sensors 211 takeimages (video images) around the robot 20. The sound sensor 212comprises a microphone located, for example, at an ear position of therobot 20. The sound sensors 212 pick up sounds around the robot 20. Thetouch sensor 213 comprises a force sensor located, for example, at ahand position of the robot 20. The touch sensors 213 detect externalforce acting on the hands of the robot 20. The smell sensor 214 islocated at a nose position of the robot 20 and detects smells. The tastesensor 215 is located at a mouth position of the robot 20 and detectstastes.

The robot 20 additionally comprises at least one each of an actuator 22,speaker 23, input unit 24, GPS sensor 25, controller 26, and wirelessunit 27. The actuators 22 include multiple motors or the like provided,for example, at associated joints of the robot 20. Robot 20 actions areimplemented by driving the actuators 22. The speaker 23 is located atthe mouth position of the robot 20 and produces voice output. The inputunit 24 is equipped with a power switch and various other switches. TheGPS sensor 25 receives GPS signals from GPS satellites. Position of therobot 20 can be detected using signals from the GPS sensor 25.

The controller 26 includes a microcomputer comprising a CPU, ROM, RAMand the like. The controller 26 controls the wireless unit 27 andcommunicates with the management server 30. For example, the controller26 sends the five sense signals output by the sensors 211 to 215 and thesignals from the GPS sensor 25 to the management server 30. In addition,the controller 26 sends control signals to the actuators 22, speaker 23and so on based on signals from the management server 30.

FIG. 4 is a block diagram showing an example configuration overview ofthe management server 30. As shown in FIG. 4 , the management server 30comprises an input unit 31, display unit 32, controller 33 and wirelessunit 34. Optionally, the input unit 31 and display unit 32 can beomitted.

The controller 33 comprises a CPU or other computing unit 33A, a memoryunit 33B equipped with ROM, RAM, hard disk and the like, and otherperipheral circuits. The controller 33 controls the wireless unit 34 andcommunicates with between the user apparatus 10 and the robot 20. Thecomputing unit 33A comprises a robot management unit 331, a signal inputsection 332, a target identifying unit 333 and a robot controllingportion 334 and a user apparatus controlling portion 335 as functionalconstituents.

The user registration unit 336 stores user data. The stored user datainclude individual user names, age, sex, appearance and otherattributes. The appearance data are obtained beforehand as a photographor other image either taken by the user with a camera or scanned from aphotograph or other image showing the user. The user apparatuscontrolling portion 335 is capable of using user data (particularly userappearance or other attribute data) to generate an image signalcorresponding to user appearance. Data of each user are assigned auser-specific ID. User data can, for example, be input through the inputunit 15 of the user apparatus 10 (FIG. 2 ). And when the user's familyrents a robot 20 from a shop 2 (FIG. 1 ), the user data can optionallybe input through a terminal of the shop 2.

The robot management unit 331 manages data of the robots 20 belonging tothe shop 2 (rental data, maintenance data, etc.). When a robot 20 is tobe rented, the robot management unit 331 associates a robot ID of therobot 20 concerned with the user ID of the user renting the robot 20.This specifies the attributes of users associated with individual robots20.

The signal input section 332 is adapted to acquire data transmitted fromthe user apparatus 10 of individual users (from sensors 11, microphone13, etc. of FIG. 2 ) and data transmitted from the individual robots 20(sensors 211 to 215, GPS sensor 25, etc. of FIG. 3 ) through thewireless unit 34. The wireless unit 34 can fulfill its purpose insofaras configured to communicably connect the user apparatus 10 and therobot 20 (as a communication connection unit).

The target identifying unit 333 identifies whether an object (alsocalled as a target) recognized by the vision sensor 211 (camera) of therobot 20 is a human being or is a robot 20. This identification can beachieved by, for example, performing pattern matching between imagestaken by the vision sensor 211 and images of the robot 20 stored in thememory unit 33B beforehand. Alternatively, whether a recognized targetis the robot 20 can be determined by using signals from the GPS sensor25 to detect positions of other robots 20 present around the robot 20concerned.

The robot controlling portion 334 sends action signals for actuators 22of the robot 20 through the wireless unit 34 based on signals (brainactivity signals) from the sensors 11 of the user apparatus 10 which isinput by the signal input section 332. In response to these actuationsignals, the controller 26 of the robot 20 outputs control signals tothe actuators 22. As a result, an action of the robot 20 is controlledin accordance with intention of the user. The robot controlling portion334 can output a voice based on signals from the microphone 13 of theuser apparatus 10 through the speaker 23 of the robot 20.

The user apparatus controlling portion 335 generates action signals forthe user apparatus 10 based on signals (five sense signals) from thesensors 211 to 215 of the robot 20 which is input by the signal inputsection 332. These actions signals are then transmitted through thewireless unit 34 to the user apparatus 10. For example, picture signalsdetected by the vision sensors 211 are transmitted. In response to thesepicture signals, the controller 16 of the user apparatus 10 outputscontrol signals to the display 12 to display 3D pictures obtained fromthe vision sensors 211 on the display 12. The user apparatus controllingportion 335 can also use signals from the sound sensors 212 to reproducevoices through the speakers 14 of the user apparatus 10.

A point requiring attention here is that if the vision sensor 211(camera) of the robot 20A operated by user A should take images ofanother robot (robot 20B operated by user B) and those images should bedisplayed as taken on the display 12 of the user apparatus 10A of theuser A, the user A would be unlikely to feel thoroughly satisfied withthe service provided via the user apparatus 10A. The reason for thisdissatisfaction is that the meaningless appearance of the robot 20Bserving as user B's avatar (double) on user A's display 12 when the userA is traveling would detract from the pleasure of the trip the user Ahad hoped to enjoy. With consideration to this issue, the user apparatuscontrolling portion 335 is adapted, as described in the following, torespond to identification result of the target identifying unit 333 bysending a control signal to the user apparatus 10 so as to controlimages displayed on the display 12.

FIG. 5 is a flowchart showing an example of processing performed by thecomputing unit 33A in accordance with a program stored in the memoryunit 33B in advance, particularly an example of processing performedmainly by the user apparatus controlling portion 335. The processingrepresented by this flowchart is commenced when the vision sensor 211starts taking a picture around of the robot 20 and is repeated atpredetermined intervals.

First, in S1 (S: processing Step), whether an imaged object is a robot20 is determined. This identification is performed by the targetidentifying unit 333. When the result in S1 is NO, i.e., when the imagedobject is determined to be a human being or an object (object other thana robot), the program goes to S2, in which image signals are sent fromthe vision sensor 211 to the user apparatus 10 as is. This results inthree-dimensional images (video images) taken by the vision sensor 211being displayed as is on the display 12 of the user apparatus 10.

On the other hand, when the imaged object is determined in S1 to be arobot 20, the program goes to S3, in which data of the user operatingthe imaged robot 20 are read from the user registration unit 336. Next,in S4, the image signals of the robot 20 acquired by the vision sensor211 are replaced by image signals representing user attributes(appearance) read from the user registration unit 336 and sent to theuser apparatus 10. In other words, image signals that would be expectedto be detected by the vision sensor 211 when the robot 20 is replaced bya human being are sent to the user apparatus 10. This results in displayon the display 12 of the user apparatus 10 not of images of the robot 20taken by the vision sensor 211 but instead of three-dimensional images(video images) of the user operating the imaged robot 20.

FIG. 6 is a diagram for explaining principal actions of the serviceproviding system 100 according to an embodiment of the presentinvention. FIG. 6 shows the robot 20A (solid lines) operated by user Aat A point (FIG. 1 ) and the robot 20B (solid lines) operated by user Bat B point (FIG. 1 ) in mutually facing state at C point. At this time,a three-dimensional image of user B (dotted lines) is displayed on thedisplay 12 of the user apparatus 10 of user A (S4) and athree-dimensional image of user A (dotted lines) is displayed on thedisplay 12 of the user apparatus 10 of user B (S4). On the other hand,persons 3 present around the robots 20A and 20B are displayed as is onthe displays 12 as three-dimensional images (S2).

Thus when the vision sensor 211 of a robot 20 operated by a user takesimages of another robot, the images taken of that robot 20 are replacedby and displayed as images of a human being. Users can thereforethoroughly enjoy the service (image display) offered by the serviceproviding system 100 using the robots 20 while experiencing nodetraction from the pleasure of their travels. The replacement images ofrobots 20 taken by the vision sensors 211 with images of individualusers makes it possible to offer a highly advanced service that enhancessense of reality, namely, feeling of the three-dimensional imagesdisplayed to the users depicting real spatial venues.

The present embodiment can achieve advantages and effects such as thefollowing:

(1) The service providing system 100 according to the present embodimentincludes: the robots 20 capable of moving, which are each equipped withthe multiple sensors 211 to 215 having detection capabilitycorresponding to five human senses and which are adapted to act inresponse to instructions from users by means of wireless communication;the target identifying unit 333 for identifying whether an object imagedby a robot 20 is a human being or is another robot 20; the userapparatus controlling portion 335 for outputting signals detected by thesensors (particularly the vision sensor 211) if an imaged object isidentified to be a human being by the target identifying unit 333 andfor replacing the signal detected by the vision sensor 211 with an imagesignal representing a user and outputting the same if the imaged objectis identified to be another robot 20; and the user apparatus 10 (display12) for displaying images (video images) of robot 20 surroundings basedon signals output from the user apparatus controlling portion 335 (FIGS.1 and 4 ). This makes it possible to prevent an image of a robot 20 inuse as a person's avatar in the vicinity of the user's robot 20 frombeing displayed as is on the display 12 of the user's user apparatus 10.The user can therefore experience a high degree of satisfaction with thedisplayed image.

(2) When an imaged object is identified by the target identifying unit333 to be a human being, the user apparatus controlling portion 335outputs the signal detected by the vision sensor 211 as is (S2), andwhen the imaged object is identified to be another robot 20, the userapparatus controlling portion 335 outputs image signals that would beexpected to be detected by the vision sensor 211 when the other robot 20is replaced by a human being (S4). As the other robot 20 is thereforereplaced by a human being for display on the users display 12, the usercan savor the enjoyment of traveling without experiencing any unusualfeeling.

(3) The service providing system 100 further comprises the userregistration unit 336 for registering data, including attributes, ofusers using the robots 20 (FIG. 4 ). When the target identifying unit333 identifies a target to be another robot 20, the user apparatuscontrolling portion 335 outputs signals that would be expected to beobtained by the vision sensor 211 when the other robot 20 is replaced bythe other robot user by depicting attributes registered in the userregistration unit 336 (S4). This leads to the user operating the otherrobot 20 being virtually displayed on the display 12 as if present anddepicting the registered attributes at that venue. So even if a numberof other robots 20 are present around the user's robot 20, the user canstill enjoy a higher degree of satisfaction than in a case where usersare virtually displayed uniformly and indistinguishably. This is becausewhen users are virtually displayed uniformly and indistinguishably, theyall look the same and give the user a strong feeling of unnaturalnessthat precludes thorough satisfaction with the service offered.

(4) The service providing method of the present embodiment, which isinvoked in response to user instruction via wireless communication, isadapted to provide image display service to users by use of mobilerobots 20 each equipped with the multiple sensors 211 to 215 havingdetection capability corresponding to five human senses and with theuser apparatus 10 having the display 12 for displaying images of robot20 surroundings, and includes identifying whether an object imaged bythe robot 20 is a human being or is another robot 20 (S1), outputtingsignals detected by the sensors (particularly the vision sensor 211) tothe user apparatus 10 as is if the imaged object is identified to be ahuman being (S2), and replacing the signal detected by the vision sensor211 with an image signal representing a user and outputting the same tothe user apparatus 10 if the imaged object is identified to be anotherrobot 20 (S4). This makes it possible for the user to experience a highdegree of satisfaction with the image displayed on the display 12.

The aforesaid embodiments are adapted to display images on the display12 of the user apparatus 10 based on signals acquired from the visionsensor 211. Specifically, a head-mounted display is used as the userapparatus, but the user apparatus can be of any type insofar as itoperates based on signals output by the user apparatus controllingportion 335 in a manner perceivable by the user. For example, it can beadapted to display images on the screen of a monitor not worn by theuser. Optionally, images can be evoked in the user's mind by convertingimages to a mode for brain stimulation of images by BMI and magneticallystimulating the user's brain (light field of the occipital lobe, interalia) accordingly. Optionally, services other than image services can beoffered.

FIG. 7 is a diagram showing another example of user apparatus. In theexample of FIG. 7 , in addition to the user apparatus 10 (10A) fitted onthe head, glove-shaped apparatus 10C, for example, is fitted on theuser's hand. The user apparatus 10C is equipped withelectric-signal-triggered actuators 19, at positions corresponding tofinger joints of the user, for example, and with a controller (notshown) for controlling driving of the actuators 19. The user apparatus10C extends and retracts when driven by the actuators 19 in response toinstructions from the controller, thereby imparting a handshakesensation to the user.

So, as shown in FIG. 8 , for example, when the robot 20 operated by theuser shakes hands with third party 4, signals detected by the touchsensor 213 are sent to the management server 30. The management server30 (user apparatus controlling portion 335) sends activation signalscorresponding to these detection signals to the controller of the userapparatus 10C, thereby operating the actuators 19 to give the user afeeling of shaking hand with third party 4.

When the target identifying unit 333 identifies the entity with whom therobot 20A shakes hands to be a robot 20B operated by another user, therobots 20A and 20B can optionally be controlled as illustrated in FIG. 9to not actually shake hands but to only shake hands in the imagedisplayed on the user apparatus 10A. In such case, the management server(user apparatus controlling portion 335) sends the user apparatus 10A asignal simulating one that would be expected to be detected by the touchsensor 213 during an actual handshake. This expedient enables user Aoperating the robot 20A to receive a sensation of shaking hands withuser B operating the robot 20B. Since the robots 20A and 20B are notrequired to actually shake hands with each other, needless actions ofthe robots 20A and 20B can be avoided.

The aforesaid embodiments are adapted to use a robot which is capable ofbiped walking, but the robot is not limited to the above configurationinsofar as the robot includes human sensing capabilities to perceive theexternal world, i.e., capabilities corresponding to visual capabilities,tactile capabilities, etc. The above sensors 211 to 215 are examples ofa detection unit including a capability corresponding to a human sensingcapability, but the detection unit is not limited to the aboveconfiguration.

In the aforesaid embodiments, the target identifying unit 333 identifieswhether a target to which the robot 20 takes images or shakes hands is ahuman being or another robot 20, but an operation target of a robot isnot limited to the above target. It can be adapted to identify whetheranother operation target is a human or a robot. In addition, a targetidentifying unit is not limited to the above configuration.

The aforesaid embodiments are adapted to directly output a detectionvalue of the sensor 211 when an action target (an object of takingpictures, for example) of the robot 20 is identified to be a human beingby the target identifying unit 333 and output a signal that would beexpected to be detected by the vision sensor 211 when another robot 20is replaced by a human being when the action object (also called asaction target) is it is identified to be the other robot 20. However,the user apparatus controlling portion 335 as an output unit is notlimited to the above configuration insofar as a signal is output to auser apparatus such as the display 12 in mutually different manners(first manner, second manner) when an action target is identified to bea human being and when an action target is identified to be a robot.That is, if a signal is output in mutually different manners, a user canexperience a higher degree of satisfaction with a provided serviceinsofar as than in a case that a signal is output in mutually samemanners. The user apparatus controlling portion 335 may always outputirrespective of identification result of the target identifying unit333, and the controller 16 of the user apparatus 10 may output a signalin a first manner and a second manner to respond to identificationresult of the target identifying unit 333. That is, the controller 16may be function as an output unit instead of the user apparatuscontrolling portion 335.

The aforesaid embodiments are adapted to transmit and receive signalsbetween the management server 30, the user apparatus 10 and the robot20. Specifically, the user apparatus 10 and the robot 20 communicatestrough the management server 30, but the user apparatus 10 and the robot20 can communicates directly without the management server 30. In thiscase, controllers 16, 26, etc. of the user apparatus 10 and the robot 20can include a function of the management server 30.

The aforesaid embodiments are adapted to rent the robot 20 form the shop2, but for example, the present invention can be similarly configuredeven if a user uses a robot owned at home. It can be adapted not to makea robot act together with a family but to make a robot act individually.The management server 30 and a terminal of the shop 2 may be configuredto be able to communicate with each other, and a rental reservationapplication, a rental fee payment, etc. of the robot 20 may be performedthrough the management server 30.

The above description is only an example, and the present invention isnot limited to the above embodiment and modifications, unless impairingfeatures of the present invention. The above embodiment can be combinedas desired with one or more of the above modifications. Themodifications can also be combined with one another.

REFERENCE SIGNS LIST

10, 10A user apparatus, 12 display, 19 actuator, 20, 20A, 20B robot, 100service providing system, 211 vision sensor, 213 touch sensor, 333target identifying unit, 335 user apparatus control portion, 336 userregistration unit

The invention claimed is:
 1. A service providing system comprising: arobot capable of moving and configured to act in response to aninstruction from a user through wireless communication and including adetection unit having a capability corresponding to a human sensingcapability to perceive an external world, the detection unit including acamera; a user apparatus including a display unit; and a managementdevice comprising: a controller including a CPU and a memory connectedto the CPU; and a wireless unit connected to the controller and capableof communicating with the user apparatus and the robot, wherein the CPUis configured to perform: identifying whether an imaged object of thecamera is a human being or another robot based on an image signalacquired by the camera received via the wireless unit; and outputting animage signal representing a human being acquired by the camera to theuser apparatus via the wireless unit when the imaged object isidentified to be the human being and outputting an image signal in whichanother robot is replaced by another user using the other robot to theuser apparatus via the wireless unit when the imaged object isidentified to be the other robot, and the display unit is configured todisplay an image based on the image signal outputted from the CPU, andwherein the memory is configured to store user information includinginformation of an appearance of the other user using the other robot,and the CPU is configured to perform the outputting including generatingan image signal representing the appearance of the other user using theother robot based on the user information when the imaged object isidentified to be the other robot to output an image signal in which animage signal representing the other robot acquired by the camera isreplaced by the image signal representing the appearance of the user tothe user apparatus via the wireless unit.
 2. The service providingsystem according to claim 1, wherein the display unit is furtherconfigured to display three-dimensionally an image of the other userbased on the image signal representing an appearance of the other userusing the other robot outputted from the CPU.
 3. The service providingsystem according to claim 1, wherein the detection unit further includesa force sensor, the user apparatus has an actuator attached to a body ofa user to impart a force detected by the force sensor to a predeterminedpart of the body of the user.
 4. A service providing method forproviding a service to a user by using a robot capable of moving andacting in response to an instruction from a user through wirelesscommunication and including a detection unit having a detectioncapability corresponding to a human sensing capability to perceive anexternal world and a user apparatus acting in a manner perceivable bythe user, the detection unit including a camera and the serviceproviding method comprising: identifying whether an imaged object of thecamera is a human being or another robot based on an image signalacquired by the camera received from the robot; and outputting an imagesignal representing a human being acquired by the camera to the userapparatus when the imaged object is identified to be the human being andoutputting an image signal in which another robot is replaced by anotheruser using the other robot to the user apparatus when the imaged objectis identified to be the other robot, wherein the outputting includinggenerating an image signal representing an appearance of the other userusing the other robot based on user information including information ofthe appearance of the other user using the other robot when the imagedobject is identified to be the other robot to output an image signal inwhich an image signal representing the other robot acquired by thecamera is replaced by the image signal representing the appearance ofthe user to the user apparatus via the wireless unit.
 5. A managementdevice for a service providing system comprising: a controller includinga CPU and a memory connected to the CPU; and a wireless unit connectedto the controller and capable of communicating with a user apparatusincluding a display unit and a robot capable of moving and configured toact in response to an instruction from a user through wirelesscommunication and including a detection unit having a capabilitycorresponding to a human sensing capability to perceive an externalworld, the detection unit including a camera; the CPU is configured topreform identifying whether an imaged object of the camera is a humanbeing or another robot based on an image signal acquired by the camerareceived via the wireless unit; and outputting an image signalrepresenting a human being acquired by the camera to the user apparatusvia the wireless unit when the imaged object is identified to be thehuman being in the identifying and outputting an image signal in whichanother robot is replaced by another user using the other robot to theuser apparatus via the wireless unit when the imaged object isidentified to be the other robot in the identifying, wherein the memoryis configured to store user information including information of anappearance of the other user using the other robot, and the CPU isconfigured to perform the outputting including generating an imagesignal representing the appearance of the other user using the otherrobot based on the user information when the imaged object is identifiedto be the other robot to output an image signal in which an image signalrepresenting the other robot acquired by the camera is replaced by theimage signal representing the appearance of the user to the userapparatus via the wireless unit.